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WO2018236181A1 - Appareil de commande de vol ahrs basé sur une plateforme mobile - Google Patents

Appareil de commande de vol ahrs basé sur une plateforme mobile Download PDF

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Publication number
WO2018236181A1
WO2018236181A1 PCT/KR2018/007079 KR2018007079W WO2018236181A1 WO 2018236181 A1 WO2018236181 A1 WO 2018236181A1 KR 2018007079 W KR2018007079 W KR 2018007079W WO 2018236181 A1 WO2018236181 A1 WO 2018236181A1
Authority
WO
WIPO (PCT)
Prior art keywords
flight control
mobile terminal
control unit
information
flight
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2018/007079
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English (en)
Korean (ko)
Inventor
우희성
류창형
송인호
임민교
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
COREGLEAM Co Ltd
Original Assignee
COREGLEAM Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020170174325A external-priority patent/KR102037359B1/ko
Application filed by COREGLEAM Co Ltd filed Critical COREGLEAM Co Ltd
Publication of WO2018236181A1 publication Critical patent/WO2018236181A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D43/00—Arrangements or adaptations of instruments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M1/00—Substation equipment, e.g. for use by subscribers
    • H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
    • H04M1/725—Cordless telephones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U40/00—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration
    • B64U40/20—On-board mechanical arrangements for adjusting control surfaces or rotors; On-board mechanical arrangements for in-flight adjustment of the base configuration for in-flight adjustment of the base configuration

Definitions

  • the present invention relates to a mobile platform-based AHRS flight control device, and more particularly, to an AHRS flight control device based on a mobile platform, in which data calculated from various sensors included in a mobile terminal are supplemented and fused and mounted on a unmanned air vehicle (drone or the like)
  • the present invention relates to a mobile platform based AHRS flight control device capable of dramatically improving the operation and utilization of an unmanned aerial vehicle through a communication network that can be used in a mobile terminal.
  • Unmanned aerial vehicles generally rotate the rotor rotating parts (propellers, etc.) in four directions simultaneously using a single motor or an engine.
  • Attitude and Heading Reference System (AHRS) and Flight Controller (FC) are the key modules for controlling smooth flight of unmanned aerial vehicles.
  • Accelerometer, gyroscope (6-axis or 9-axis) attitude control information data capable of maintaining the attitude of the body of the unmanned aerial vehicle using a gyroscope, a magnetometer, and the like, Controls the thrust information of the motor controller of the aircraft so that the unmanned aerial vehicle can maintain the flight.
  • the unmanned aerial vehicle also includes devices such as GPS, barometer, ultrasonic sensor, telemetry, RC receiver and wireless communication module. / Landing, home return to take-off point, or remote control function.
  • the complexity of the physical configuration is inevitable because the above-described various devices / modules are combined, and the communication channel through the wireless communication network or the RC receiver used by each unmanned aerial vehicle is different from that of the conventional unmanned aerial vehicle So that it is difficult to simultaneously control / control a plurality of unmanned aerial vehicles simultaneously.
  • Korean Patent Registration No. 10-1436555 an Internet-based remote control system of an unmanned flying robot
  • conflicts are avoided by using latent functions between virtual points and obstacles followed by the unmanned aerial robot, Which can solve the packet loss and delay problems associated with the unmanned aerial vehicle, thereby enabling stable operation of the haptic device.
  • the present invention has been made to solve the above-mentioned problems of the prior art, and it is an object of the present invention to provide a mobile terminal which is equipped with an unmanned aerial vehicle
  • the present invention provides a mobile platform-based AHRS flight control device that reduces the complexity of the physical configuration of a conventional unmanned aerial vehicle and dramatically improves the operation and utilization of the unmanned aerial vehicle through a communication network that can be used in a mobile terminal.
  • a mobile platform-based AHRS flight control apparatus includes a motor, a motor controller for driving the motor, a propeller for receiving rotation power by rotation of the motor, (10) mounted on a drones frame (10), wherein the current position information of the drones (10) is stored in the drones (10) Based flight control unit 100 for calculating the attitude control information on the basis of the calculated current attitude information and a control unit 100 mounted on the drones 10 for interfacing with the mobile terminal based flight control unit 100 and USB- And an interface unit 200 for transmitting and receiving data.
  • the mobile terminal based flight control unit 100 calculates the current attitude information of the drones frame 10 in real time using the sensed information from the non-instrumented sensors.
  • the mobile terminal-based flight control unit 100 receives the steering signal from the outside, and calculates the posture control information of the drones frame 10 by applying the calculated current position information to the predetermined algorithm .
  • the interface unit 200 generates a PWM control signal according to the posture control information received from the mobile terminal-based flight control unit 100, and controls the operation of the motor controller.
  • the mobile terminal based flight control unit 100 further includes a flight information storage unit 110 for storing the control signal received from the mobile terminal based flight control unit 100 and current flight attitude information, A signal judging unit 120 for judging whether or not there is a communication error of a steering signal inputted from the outside by the control unit 100 and a control unit 100 for judging whether or not there is a communication error of a steering signal inputted from outside, And an emergency flight unit 130 for calculating posture control information of the drones 10 by applying flight path information stored in the storage unit 110.
  • the mobile platform-based AHRS flight control apparatus is connected to the mobile terminal-based flight control unit 100 using a predetermined wireless communication network, and inputs a control signal to the mobile terminal-based flight control unit 100 at a long distance And a remote control means 300.
  • the mobile terminal based flight control unit 100 transmits and receives data to and from the remote control means 300 using the wireless communication network.
  • the mobile platform-based AHRS flight control apparatus is configured as a mobile terminal, and is connected to the mobile terminal-based flight control unit 100 using a predetermined wireless communication network, The mobile terminal based flight control unit 100 transmits and receives data to and from the near point control means 400 using the wireless communication network .
  • the interface unit 200 may include a specific sensor module, and transmits the sensed information from the specific sensor module to the mobile terminal-based flight control unit 100.
  • the AHRS flight control apparatus based on the mobile platform of the present invention constructed as described above is installed in an unmanned air vehicle (drone or the like) by complementing and merging data calculated from various sensors basically included in a mobile terminal, There are advantages to be able to.
  • FIG. 1 is a block diagram illustrating an AHRS flight control apparatus based on a mobile platform according to an embodiment of the present invention.
  • FIG. 2 is a diagram illustrating an operation of an AHRS flight control apparatus based on a mobile platform according to an embodiment of the present invention.
  • FIG. 3 is a diagram illustrating an operation of a mobile terminal-based flight control unit 100 of an AHRS flight control apparatus based on a mobile platform according to an embodiment of the present invention.
  • FIG. 4 is a view illustrating current position information and attitude control information calculated through the mobile terminal-based flight control unit 100 in the mobile platform-based AHRS flight control apparatus according to an exemplary embodiment of the present invention.
  • FIG. 5 is an emergency flight configuration diagram of an AHRS flight control system based on a mobile platform according to another embodiment of the present invention.
  • FIG. 6 is a flowchart of an emergency flight of an AHRS flight control system based on a mobile platform according to another embodiment of the present invention.
  • FIG. 7 is an exemplary screen for the control of the unmanned aerial vehicle in the remote control means 300 or the near-point control means 400 of the AHRS flight control apparatus based on the mobile platform according to the embodiment of the present invention.
  • the components for constructing the drone such as a drone are a dron frame, a motor and a motor controller, a propeller, a battery, a flight control device, a GPS receiver, a barometer, an ultrasonic sensor, a telemetry device, (AHRS), Flight Control Computer (FCC) and flight control system (FCC), which are the core modules for the flight of unmanned aerial vehicles. .
  • the attitude measuring device calculates three-dimensional attitude control information data capable of maintaining the attitude of the drones frame using the sensors (accelerometer, gyroscope, magnetic flux meter, etc.) provided, and the attitude control information data calculated by the flight control device And transmits the thrust information to the motor controller of the unmanned aerial vehicle so that the unmanned aerial vehicle can maintain the flight state.
  • various information is received from devices such as GPS, barometer, ultrasonic sensor, telemetry device, RC transmitter / receiver, and communication module, and it is possible to avoid obstacles, Control and so on.
  • the AHRS flight control device based on the mobile platform according to the embodiment of the present invention can realize a flight control device which is a core module for constructing a drone such as an unmanned aerial vehicle using a mobile platform such as an Android smartphone, And to an apparatus for constructing and controlling the same.
  • the AHRS flight control device based on the mobile platform according to the embodiment of the present invention can realize simultaneous implementation of the attitude measuring device and the flight control device, which are core modules of the unmanned aerial vehicle, And it is advantageous to broaden the operation and utilization of the unmanned aerial vehicle through various advantages of the mobile terminal.
  • FIG. 1 is a block diagram of an AHRS flight control apparatus based on a mobile platform according to an embodiment of the present invention
  • FIG. 2 is a diagram illustrating an operation of an AHRS flight control apparatus based on a mobile platform according to an embodiment of the present invention. Referring to FIGS. 1 and 2, a mobile platform-based AHRS flight control apparatus according to an embodiment of the present invention will be described in detail.
  • a mobile platform-based AHRS flight control apparatus includes a motor, a motor controller for driving the motor, a propeller for receiving rotation power by rotation of the motor, And a drones (10) on which a power supply unit for supplying power to the AHRSs is mounted.
  • the mobile platform-based AHRS flight control apparatus may include a mobile terminal-based flight control unit 100 and an interface unit 200 mounted on the drones 10,
  • the configuration of the unmanned aerial vehicle through the terminal-based flight control unit 100 and the interface unit 200 can remarkably reduce the number of the components compared to the conventional unmanned aerial vehicle, thereby reducing the complexity of the configuration.
  • the mobile terminal based flight control unit 100 is mounted on the drones 10 and drives a separate application to be applied to an AHRS flight control device in a commonly used Android smartphone, Operation can be performed.
  • the mobile terminal-based flight control unit 100 can calculate the current attitude information of the drones 10, that is, the body of the unmanned aerial vehicle, The control information can be calculated.
  • various sensors built in the mobile terminal based flight control unit 100 (Roll, Pitch, Yaw) of the drones 10 can be calculated in real time using a Kalman filter, a complementary filter, or the like by a specific application.
  • the mobile platform-based AHRS flight control apparatus may include the mobile terminal- ), It is possible to calculate the current attitude information of the drones frame 10 in real time by receiving the sensing information using various built-in sensors without additional configuration.
  • the mobile terminal based flight control unit 100 uses a predetermined algorithm by a specific application And the posture control information of the drones 10 can be calculated by applying the calculated current posture information.
  • a remote control signal Roll, Pitch, Yaw, Throttle, etc.
  • a double PID or loop control algorithm is applied based on the calculated current posture information,
  • the posture control information of the angle corresponding to the control signal can be calculated in real time.
  • the mobile terminal-based flight control unit 100 can receive a remote control signal of the drones frame 10 from an outside through a communication module already built therein.
  • various communication modules such as Bluetooth, Wifi, LTE, 4G, and 5G can be selectively used according to the type of external control means.
  • the mobile terminal-based flight control unit 100 can calculate the current attitude information and the attitude control information using the built-in sensors,
  • the remote control signal can be received from the external control means by using the communication module.
  • it may perform USB-OTG communication with the interface unit 200 to transmit the posture control information or receive various sensing information. This will be described in detail later.
  • the interface unit 200 is mounted on the drones 10 and is most preferably formed in the form of a Micom board.
  • the interface unit 200 may perform data transmission / reception by interfacing with the mobile terminal based flight control unit 100 through USB-OTG.
  • the interface unit 200 receives the posture control information calculated through the USB-OTG communication from the mobile terminal-based flight control unit 100 and transmits a PWM control signal based on the received posture control information So that the operating state of the motor controller can be controlled.
  • the mobile platform-based AHRS flight control apparatus can be used as a sensor hub by using the I / O by configuring the interface unit 200 as a Micom board,
  • additional sensors may be easily configured and extended according to the user's request.
  • sensors capable of sensing gas control information and other external information can be mounted on the interface unit 200 as an expansion I / O, so that various sensing information can be obtained.
  • the interface unit 200 can acquire The various sensing information is transmitted to the mobile terminal-based flight control unit 100 via the USB-OTG communication, and the mobile terminal-based flight control unit 100 can easily transmit the various sensing information to the external control means .
  • a Co2 sensor for example, depending on the field in which the unmanned aerial vehicle is used, a Co2 sensor, a temperature / humidity sensor, a smoke detection sensor, a radiation detection sensor, a fine dust detection sensor, a noxious gas detection sensor, It is possible to acquire various sensing information about an environment in which it is difficult to directly perform the operation.
  • an ultrasound sensor, an infrared sensor, and an image sensor may be extended to allow the unmanned aerial vehicle to more steadily fly, and may be utilized to implement and operate a stable unmanned aerial vehicle such as collision avoidance based on sensing information.
  • the interface unit 200 receives the posture control information through the USB-OTG communication from the mobile terminal-based flight control unit 100, generates and outputs a PWM control signal to the motor controller based on the received posture control information, When the sensor is expanded and mounted, the sensed information is transmitted to the mobile terminal based flight control unit 100.
  • the Micom board of the interface unit 200 which performs a relatively simple operation, is configured using a relatively inexpensive open source platform.
  • this is merely an embodiment of the present invention, and can be variously configured according to the field in which the unmanned aerial vehicle is used.
  • the mobile terminal-based flight control unit 100 of the mobile platform-based AHRS flight control apparatus includes a flight information storage unit 110, a signal determination unit 120, And may further comprise a flight unit 130.
  • the flight information storage unit 110 stores the control signal received from the mobile terminal-based flight control unit 100 and the current flight attitude information.
  • the mobile terminal-based flight control unit 100 receives input signals from outside And the position and the altitude of the drones 10 are calculated and stored by using a predetermined algorithm by receiving the control signal.
  • the flight information storage unit 110 stores position information and an altitude of the drones frame 10 through an up-down, left, and right posture information signals received from the mobile terminal-based flight control unit 100 and GPS .
  • the signal determination unit 120 measures the frequency of the steering signal received from the mobile terminal-based flight control unit 100 to determine whether there is a communication failure.
  • the emergency flight unit 130 applies the flight path information stored in the flight information storage unit 110 when the mobile terminal based flight control unit 100 has a communication failure of a steering signal input from the outside, 10) is calculated.
  • the AHRS flight control apparatus based on the mobile platform of the present invention may be configured such that the mobile terminal based flight control unit 100 receives information from the outside through the flight information storage unit 110, the signal determination unit 120 and the emergency flight unit 130
  • the emergency flight of the drone frame 10 is enabled when a reception error of a correct control signal occurs due to a communication failure of a control signal to be received.
  • the signal determination unit 120 determines that the mobile terminal-based flight control unit 100 has failed to communicate with the control signal received from the outside
  • the data of the flight information storage unit 110 may be transmitted to the emergency-
  • the flight control unit 100 calculates the posture control information of the drones 10 without the control signal received from the outside and transmits the control information to the interface unit 200 ).
  • the emergency flight of the drones 10 is not limited to the case where an error occurs in receiving a correct control signal due to a communication failure of the steering signal received from the outside by the mobile terminal based flight control unit 100, May be possible even when an error occurs in transmission when transmitting the calculation signal of the current attitude information of the drones frame 10 to the interface unit 200.
  • the flight information storage unit 110 stores an emergency flight of the drones 10, A control command including up, down, left, and right signals input from the outside and gas information via GPS embedded in the mobile terminal-based flight control unit 100, The position and the altitude of the frame 10 are grasped.
  • the signal determination unit 120 measures the frequency of the steering signal received from the outside, which is the wireless control command, by the mobile terminal based flight control unit 100 to determine whether there is an abnormality in the communication signal. 6, when the control signal received from the outside, which is a wireless control command, is greater than or equal to 50 Hz, the signal determination unit 120 applies current position information calculated in a predetermined algorithm And transmits the calculated posture control information to the interface unit 200.
  • the signal determining unit 120 When the control signal received from the outside, which is a wireless control command, is less than 50 Hz, the signal determining unit 120 immediately determines that the drones frame 10 does not change altitude and position , Generates a hovering signal to fly in situ, calculates posture control information of the drones frame 10 by applying the calculated current posture information, and transmits the posture control information to the interface unit 200.
  • the hovering signal may be generated by a hovering control algorithm preset in the mobile terminal-based flight control unit 100.
  • the signal determination unit 120 measures the frequency of the steering signal received from the outside, which is the wireless control command, If the communication is restored, the control unit 20 calculates posture control information of the drones 10 by applying the current posture information calculated by an algorithm input from the outside and set in a predetermined algorithm, (200).
  • the emergency flight unit 130 controls the position and the position of the drones 10 through the control command and the gas information stored in the flight information storage unit 110, Generates a return command of the dragon frame 10 by using altitude data, calculates posture control information of the dragon frame 10 by applying the calculated current posture information to a predetermined algorithm, and transmits the posture control information to the interface unit 200 So that the drones 10 can be returned.
  • the emergency flight unit 130 generates a landing command in addition to the return command of the drone frame 10 in case of a communication failure, and applies the calculated current attitude information to the previously set algorithm, And transmits the generated posture control information to the interface unit 200 so that the drones 10 can be landed.
  • the mobile platform-based AHRS flight control apparatus may further include a remote control means 300 and a near distance control means 400.
  • the remote control means 300 and the local control means 400 can perform the control of the unmanned aerial vehicle through the screen shown in FIG. 5 through a predetermined application.
  • the remote control means 300 and the near distance control means 400 are connected to the mobile terminal based flight control unit 100 using a predetermined wireless communication network, , Remaining amount of battery in unmanned aerial vehicle, current attitude information, movement route, and the like can be confirmed in real time.
  • the remote control means 300 may be connected to the mobile terminal based flight control unit 100 through a predetermined wireless communication network.
  • the remote control means 300 may be connected to the LTE, 4G , 5G, and the like.
  • the remote control means 300 means a terminal capable of installing an application for controlling an unmanned air vehicle and can input a remote control signal to the mobile terminal based flight control unit 100 at a remote location,
  • the control unit 100 may receive the remote control signal from the remote control means 300 and calculate the posture control information.
  • the remote control means 300 can receive the flight information (gas control information) and various sensing information of the unmanned aerial vehicle from the mobile terminal based flight control unit 100 and can easily perform the control.
  • the distance criterion means a distance in which short-range wireless communication is not available.
  • the short distance control means 400 may be connected to the mobile terminal based flight control unit 100 through a predetermined wireless communication network in the same manner as the long distance control means 300, It is preferable to set it as Bluetooth, Wifi, or the like, which is a short-range wireless communication network.
  • the near-point control means (400) is configured as a mobile terminal because it is preferable that the control manager directly conduct monitoring while watching the unmanned aerial vehicle directly.
  • the short distance control means 400 may input a remote control signal to the mobile terminal based flight control unit 100 at a short distance and the mobile terminal based flight control unit 100 may receive the remote control signal from the near distance control means 400, And the posture control information can be calculated by receiving the signal.
  • the short range control means 400 may receive the flight information (gas control information) and various sensing information of the unmanned aerial vehicle from the mobile terminal based flight control unit 100 and perform the control easily.
  • the remote control means 300 can perform a central integrated control function, so that the near distance control means 400 and the remote control means 300 can be network-connected. That is, the near-point control means 400 controls the unmanned aerial vehicle on-site using a short-range wireless communication network and is connected to the remote control means 300 through the general mobile communication network, May transmit information of the unmanned aerial vehicle separately from the information received through the mobile terminal based flight control unit 100.
  • the mobile platform-based AHRS flight control apparatus can track the position of the UAV 100 using the GPS already built in the mobile terminal-based flight control unit 100, The image information around the unmanned air vehicle 100 can be acquired using the built-in camera module.
  • the mobile platform-based AHRS flight control apparatus configures an unmanned aerial vehicle through the mobile terminal-based flight control unit 100 and the interface unit 200,
  • the number of components can be drastically reduced and the complexity of the configuration can be reduced.
  • the damping structure may be additionally provided between the drones 10 and the mobile terminal based flight control unit 100 to prevent inaccurate information from being generated due to the vibration of the drones 10,
  • Based flight control unit 100 can calculate more accurate information.
  • a cushioning material having elasticity such as rubber is installed between the drones 10 and the mobile terminal-based flight control unit 100, and vibration generated in the drones 10 is transmitted to the mobile terminal- It can be prevented from being transmitted to the control unit 100.
  • the mobile platform-based AHRS flight control apparatus may be connected to a power source of the drones 10 and a power source of the mobile terminal-based flight control unit 100 so that they can share power.
  • the mobile terminal-based flight control unit 100 includes two ports connected to the interface unit 200 in order to share a power source with a power source of the drones 10, It can be connected to a multi-USB connector so that the port can be connected. Accordingly, the mobile platform-based AHRS flight control apparatus can fly the drones 10 only by power of either the drones 10 or the mobile terminal-based flight control unit 100, ) Or the mobile terminal-based flight control unit 100 can be prevented from being disabled due to a power shortage.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un appareil de commande de vol AHRS basé sur une plateforme mobile et, plus spécifiquement, à un appareil de commande de vol AHRS basé sur une plateforme mobile d'un objet volant sans pilote comprenant un cadre de drone (10) sur lequel un moteur, un dispositif de commande de moteur pour entraîner le moteur, une hélice pour tourner par réception d'une force dynamique de rotation transférée par entraînement du moteur, et un moyen de source d'énergie pour fournir une puissance de fonctionnement à chaque élément sont montés, l'appareil de commande de vol AHRS basé sur une plateforme mobile comprenant : une unité de commande de vol basée sur un terminal mobile (100) qui est montée sur la trame de drone (10), et calcule des informations d'attitude actuelle de la trame de drone (10) et calcule des informations de commande d'attitude sur la base des informations d'attitude actuelle calculées ; et une unité d'interface (200) qui est montée sur la trame de drone (10) et des interfaces USB-OTG avec l'unité de commande de vol basée sur un terminal mobile (100) de façon à transmettre ou à recevoir des données vers ou à partir de l'unité de commande de vol basée sur un terminal mobile (100).
PCT/KR2018/007079 2017-06-23 2018-06-22 Appareil de commande de vol ahrs basé sur une plateforme mobile Ceased WO2018236181A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20170079617 2017-06-23
KR10-2017-0079617 2017-06-23
KR1020170174325A KR102037359B1 (ko) 2017-06-23 2017-12-18 모바일 플랫폼 기반 ahrs 비행제어 장치
KR10-2017-0174325 2017-12-18

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WO2018236181A1 true WO2018236181A1 (fr) 2018-12-27

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US20230091555A1 (en) * 2021-09-17 2023-03-23 Anduril Industries Inc. Asset failure and replacement management of a set of assets
US12208892B2 (en) 2021-09-17 2025-01-28 Anduril Industries Inc. Generating an environment for an operation using a set of assets
US12242986B2 (en) 2021-09-17 2025-03-04 Anduril Industries, Inc. Planning an operation for a set of assets
US12293670B2 (en) 2021-09-17 2025-05-06 Anduril Industries, Inc. Generating a flight plan of a semi-autonomous drone
US12366854B2 (en) 2021-09-17 2025-07-22 Anduril Industries, Inc. Grouping a set of assets to perform an operation

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US12242986B2 (en) 2021-09-17 2025-03-04 Anduril Industries, Inc. Planning an operation for a set of assets
US12293670B2 (en) 2021-09-17 2025-05-06 Anduril Industries, Inc. Generating a flight plan of a semi-autonomous drone
US12366854B2 (en) 2021-09-17 2025-07-22 Anduril Industries, Inc. Grouping a set of assets to perform an operation

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